imt-ring 1.6.22__py3-none-any.whl → 1.6.24__py3-none-any.whl

{imt_ring-1.6.22.dist-info → imt_ring-1.6.24.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.22
+Version: 1.6.24
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring
@@ -22,14 +22,14 @@ Requires-Dist: optax
 Requires-Dist: dm-haiku
 Requires-Dist: pyyaml
 Provides-Extra: dev
-Requires-Dist: mkdocs ; extra == 'dev'
-Requires-Dist: mkdocs-material ; extra == 'dev'
-Requires-Dist: mkdocstrings ; extra == 'dev'
-Requires-Dist: mkdocstrings-python ; extra == 'dev'
-Requires-Dist: mknotebooks ; extra == 'dev'
-Requires-Dist: pytest ; extra == 'dev'
-Requires-Dist: pytest-xdist ; extra == 'dev'
-Requires-Dist: nbmake ; extra == 'dev'
+Requires-Dist: mkdocs; extra == "dev"
+Requires-Dist: mkdocs-material; extra == "dev"
+Requires-Dist: mkdocstrings; extra == "dev"
+Requires-Dist: mkdocstrings-python; extra == "dev"
+Requires-Dist: mknotebooks; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-xdist; extra == "dev"
+Requires-Dist: nbmake; extra == "dev"
 
 <p align="center">
 <img src="https://raw.githubusercontent.com/simon-bachhuber/ring/main/docs/img/icon.svg" height="200" />

{imt_ring-1.6.22.dist-info → imt_ring-1.6.24.dist-info}/RECORD

@@ -4,9 +4,9 @@ ring/base.py,sha256=yPdbPywwDllCRsJEbnLW4s9Z-bBD8qdxpEDYV3pCLP8,35296
 ring/maths.py,sha256=qPHH6TpHCK3TgExI98gNEySoSRKOwteN9McUlyUFipI,12207
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
-ring/algorithms/_random.py,sha256=6QwV7EAE2ckDi7rSGXT1XcPhR5R-NU-J8HVa5DoPBSQ,14011
+ring/algorithms/_random.py,sha256=UMyv-VPZLcErrKqs0XB83QJjs8GrmoNsv-zRSxGXvnI,14490
 ring/algorithms/dynamics.py,sha256=dpe-F3Yq4sY2dY6DQW3v7TnPLRdxdkePtdbGPQIrijg,10997
-ring/algorithms/jcalc.py,sha256=pniA8uZutN6H_4sP_YxHbGfW-mWEEUimHGkwLC0fgms,35049
+ring/algorithms/jcalc.py,sha256=St4hjp8LZYQg6TFFTqh7psAp1W2DvZwNe6NhXe8vrf0,35490
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 ring/algorithms/sensors.py,sha256=0xOzdQIc1kBF0CkoPXWWCx3MmV4SG3wj7knVnnMWq9M,18124
 ring/algorithms/custom_joints/__init__.py,sha256=3pQ-Is_HBTQDkzESCNg9VfoP8wvseWmooryG8ERnu_A,366
@@ -86,7 +86,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=tJaWXLGOTwkxJQj2l23dX97wO3aZYhM2qd7eNuMRs84,6907
 ring/utils/register_gym_envs/__init__.py,sha256=PtPIRBQJ16339xZ9G9VpvqrvcGbQ_Pk_SUz4tQPa9nQ,94
 ring/utils/register_gym_envs/saddle.py,sha256=tA5CyW_akSXyDm0xJ83CtOrUMVElH0f9vZtEDDJQalI,4422
-imt_ring-1.6.22.dist-info/METADATA,sha256=EHw8XK0JO8d6lQ-PiknLrM7V5ATyLkniMzBFydE6NA4,4097
-imt_ring-1.6.22.dist-info/WHEEL,sha256=R06PA3UVYHThwHvxuRWMqaGcr-PuniXahwjmQRFMEkY,91
-imt_ring-1.6.22.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.22.dist-info/RECORD,,
+imt_ring-1.6.24.dist-info/METADATA,sha256=vaXarRf1r5xZeGK-av_regQ2LgaCTnb0Th43bDLXgN8,4089
+imt_ring-1.6.24.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.24.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.24.dist-info/RECORD,,

{imt_ring-1.6.22.dist-info → imt_ring-1.6.24.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.5.0)
+Generator: setuptools (75.6.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/algorithms/_random.py

@@ -35,6 +35,9 @@ def random_angle_over_time(
     randomized_interpolation: bool = False,
     range_of_motion: bool = False,
     range_of_motion_method: str = "uniform",
+    # this value has nothing to do with `range_of_motion` flag
+    # this forces the value to stay within [ANG_0 - rom_halfsize, ANG_0 + rom_halfsize]
+    rom_halfsize: float | TimeDependentFloat = 2 * jnp.pi,
     cdf_bins_min: int = 5,
     cdf_bins_max: Optional[int] = None,
     interpolation_method: str = "cosine",
@@ -44,9 +47,14 @@ def random_angle_over_time(
 
         key_t, consume_t = random.split(key_t)
         key_ang, consume_ang = random.split(key_ang)
+        rom_halfsize_float = _to_float(rom_halfsize, t)
+        rom_lower = ANG_0 - rom_halfsize_float
+        rom_upper = ANG_0 + rom_halfsize_float
         dt, phi = _resolve_range_of_motion(
             range_of_motion,
             range_of_motion_method,
+            rom_lower,
+            rom_upper,
             _to_float(dang_min, t),
             _to_float(dang_max, t),
             _to_float(delta_ang_min, t),
@@ -251,6 +259,8 @@ def _clip_to_pi(phi):
 def _resolve_range_of_motion(
     range_of_motion,
     range_of_motion_method,
+    rom_lower: float,
+    rom_upper: float,
     dang_min,
     dang_max,
     delta_ang_min,
@@ -262,47 +272,50 @@ def _resolve_range_of_motion(
     key_ang,
     max_iter,
 ):
+    # legacy reasons, without range of motion the `sign` value, so going
+    # left or right is 50-50 for free joints and spherical joints
+    if not range_of_motion:
+        range_of_motion_method = "coinflip"
+
     def _next_phi(key, dt):
         key, consume = random.split(key)
 
-        if range_of_motion:
-            if range_of_motion_method == "coinflip":
-                probs = jnp.array([0.5, 0.5])
-            elif range_of_motion_method == "uniform":
-                p = 0.5 * (1 - prev_phi / jnp.pi)
-                probs = jnp.array([p, (1 - p)])
-            elif range_of_motion_method[:7] == "sigmoid":
-                scale = 1.5
-                provided_params = range_of_motion_method.split("-")
-                if len(provided_params) == 2:
-                    scale = float(provided_params[-1])
-                hardcut = jnp.pi - 0.01
-                p = jnp.where(
-                    prev_phi > hardcut,
-                    0.0,
-                    jnp.where(
-                        prev_phi < -hardcut, 1.0, jax.nn.sigmoid(-scale * prev_phi)
-                    ),
-                )
-                probs = jnp.array([p, (1 - p)])
-            else:
-                raise NotImplementedError
+        if range_of_motion_method == "coinflip":
+            probs = jnp.array([0.5, 0.5])
+        elif range_of_motion_method == "uniform":
+            p = 0.5 * (1 - prev_phi / jnp.pi)
+            probs = jnp.array([p, (1 - p)])
+        elif range_of_motion_method[:7] == "sigmoid":
+            scale = 1.5
+            provided_params = range_of_motion_method.split("-")
+            if len(provided_params) == 2:
+                scale = float(provided_params[-1])
+            hardcut = jnp.pi - 0.01
+            p = jnp.where(
+                prev_phi > hardcut,
+                0.0,
+                jnp.where(prev_phi < -hardcut, 1.0, jax.nn.sigmoid(-scale * prev_phi)),
+            )
+            probs = jnp.array([p, (1 - p)])
+        else:
+            raise NotImplementedError
 
-            sign = random.choice(consume, jnp.array([1.0, -1.0]), p=probs)
-            lower = _clip_to_pi(prev_phi + sign * dang_min * dt)
-            upper = _clip_to_pi(prev_phi + sign * dang_max * dt)
+        sign = random.choice(consume, jnp.array([1.0, -1.0]), p=probs)
+        lower = prev_phi + sign * dang_min * dt
+        upper = prev_phi + sign * dang_max * dt
 
-            # swap if lower > upper
-            lower, upper = jnp.sort(jnp.hstack((lower, upper)))
+        if range_of_motion:
+            lower, upper = _clip_to_pi(lower), _clip_to_pi(upper)
 
-            key, consume = random.split(key)
-            return random.uniform(consume, minval=lower, maxval=upper)
+        # swap if lower > upper
+        lower, upper = jnp.sort(jnp.hstack((lower, upper)))
 
-        else:
-            dphi = random.uniform(consume, minval=dang_min, maxval=dang_max) * dt
-            key, consume = random.split(key)
-            sign = random.choice(consume, jnp.array([1.0, -1.0]))
-            return prev_phi + sign * dphi
+        # clip bounds given by the angular velocity bounds to the rom bounds
+        lower = jnp.clip(lower, a_min=rom_lower)
+        upper = jnp.clip(upper, a_max=rom_upper)
+
+        key, consume = random.split(key)
+        return random.uniform(consume, minval=lower, maxval=upper)
 
     def body_fn(val):
         key_t, key_ang, _, _, i = val

ring/algorithms/jcalc.py

@@ -60,6 +60,11 @@ class MotionConfig:
     range_of_motion_hinge: bool = True
     range_of_motion_hinge_method: str = "uniform"
 
+    # this value has nothing to do with `range_of_motion` flag
+    # this forces the value to stay within [ANG_0 - rom_halfsize, ANG_0 + rom_halfsize]
+    # used only by the `_draw_rxyz` function
+    rom_halfsize: float | TimeDependentFloat = 2 * jnp.pi
+
     # initial value of joints
     ang0_min: float = -jnp.pi
     ang0_max: float = jnp.pi
@@ -377,7 +382,10 @@ def _is_feasible_config1(c: MotionConfig) -> bool:
         c.pos0_max_p3d_z,
     )
 
-    return cond1 and cond2 and cond3 and cond4 and cond5
+    # test that the delta_ang_min is smaller than 2*rom_halfsize
+    cond6 = _to_float(c.delta_ang_min, 0.0) < 2 * _to_float(c.rom_halfsize, 0.0)
+
+    return cond1 and cond2 and cond3 and cond4 and cond5 and cond6
 
 
 def _find_interval(t: jax.Array, boundaries: jax.Array):
@@ -610,6 +618,7 @@ def _draw_rxyz(
         config.randomized_interpolation_angle,
         config.range_of_motion_hinge if enable_range_of_motion else False,
         config.range_of_motion_hinge_method,
+        config.rom_halfsize,
         config.cdf_bins_min,
         config.cdf_bins_max,
         config.interpolation_method,